class PTMotorsClient:
def __init__(self,ic,prefix, start = False):
self.motors = PTMotors(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.motors, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getLimits(self):
return self.motors.getLimits()
def hasproxy():
return self.motors.hasproxy()
def setPTMotorsData(self, pan, tilt, panspeed, tiltspeed):
self.motors.setPTMotorsData(pan, tilt, panspeed, tiltspeed)
def __init__(self, camera):
self.lock = threading.Lock()
self.client = camera
self.height = self.client.getHeight()
self.width = self.client.getWidth()
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
rgbfilter = RgbFilter()
hsvfilter = HsvFilter()
yuvfilter = YuvFilter()
self.filters = {RGB: rgbfilter, YUV: yuvfilter, HSV: hsvfilter}
if self.client.hasproxy():
trackImage = np.zeros((self.height, self.width, 3), np.uint8)
trackImage.shape = self.height, self.width, 3
self.images = {
ORIG: trackImage,
RGB: trackImage,
HSV: trackImage,
YUV: trackImage
}
self.kill_event.clear()
self.thread.start()
class CameraClient:
def __init__(self, ic, prefix, start=False):
self.camera = Camera(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.camera, self.kill_event)
#self.thread = ThreadSensor(self.camera)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getImage(self):
return self.camera.getImage()
def getHeight(self):
return self.camera.getHeight()
def getWidth(self):
return self.camera.getWidth()
def hasproxy(self):
return self.camera.hasproxy()
class CameraClient:
def __init__(self,ic,prefix, start = False):
self.camera = Camera(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.camera, self.kill_event)
#self.thread = ThreadSensor(self.camera)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getImage(self):
return self.camera.getImage()
def getHeight(self):
return self.camera.getHeight()
def getWidth(self):
return self.camera.getWidth()
def hasproxy (self):
return self.camera.hasproxy()
class PTMotorsClient:
def __init__(self, ic, prefix, start=False):
self.motors = PTMotors(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.motors, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getLimits(self):
return self.motors.getLimits()
def hasproxy():
return self.motors.hasproxy()
def setPTMotorsData(self, pan, tilt, panspeed, tiltspeed):
self.motors.setPTMotorsData(pan, tilt, panspeed, tiltspeed)
def __init__(self,ic,prefix, start = False):
self.pose3d = Pose3D(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.pose3d, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.motors = PTMotors(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.motors, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.navdata = NavData(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.navdata, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.bumper = Bumper(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.bumper, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.camera = Camera(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.camera, self.kill_event)
#self.thread = ThreadSensor(self.camera)
self.thread.daemon = True
if start:
self.start()
class Sensor(threading.Thread):
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
if self.pose3d.hasproxy():
self.grid.initPose(self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw)
else:
self.grid.initPose(0, 0, 0)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def update(self):
if self.pose3d.hasproxy():
self.pose3d.pose3d.update()
self.grid.updatePose(self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw)
def setGetPathSignal(self, signal):
self.getPathSig = signal
def getPose3D(self):
if self.pose3d.hasproxy():
return self.pose3d.getPose3d()
def getRobotX(self):
if self.pose3d.hasproxy():
return self.pose3d.getPose3d().x
def getRobotY(self):
if self.pose3d.hasproxy():
return self.pose3d.getPose3d().y
def getRobotTheta(self):
if self.pose3d.hasproxy():
return self.pose3d.getPose3d().yaw
class Sensor(threading.Thread):
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
if self.pose3d.hasproxy():
self.grid.initPose(self.pose3d.getX(), self.pose3d.getY(), self.pose3d.getYaw())
else:
self.grid.initPose(0, 0, 0)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def update(self):
if self.pose3d.hasproxy():
self.pose3d.update()
self.grid.updatePose(self.pose3d.getX(), self.pose3d.getY(), self.pose3d.getYaw())
def setGetPathSignal(self, signal):
self.getPathSig = signal
def getPose3D(self):
if self.pose3d.hasproxy():
return self.pose3d.getPose3D()
def getRobotX(self):
if self.pose3d.hasproxy():
return self.pose3d.getX()
def getRobotY(self):
if self.pose3d.hasproxy():
return self.pose3d.getY()
def getRobotTheta(self):
if self.pose3d.hasproxy():
return self.pose3d.Yaw()
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
if self.pose3d.hasproxy():
self.grid.initPose(self.pose3d.getX(), self.pose3d.getY(),
self.pose3d.getYaw())
else:
self.grid.initPose(0, 0, 0)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, camera):
self.lock = threading.Lock()
self.client = camera
self.height= self.client.getHeight()
self.width = self.client.getWidth()
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
rgbfilter = RgbFilter()
hsvfilter = HsvFilter()
yuvfilter = YuvFilter()
self.filters = {RGB:rgbfilter, YUV:yuvfilter, HSV: hsvfilter}
if self.client.hasproxy():
trackImage = np.zeros((self.height, self.width,3), np.uint8)
trackImage.shape = self.height, self.width, 3
self.images = {ORIG: trackImage, RGB: trackImage, HSV: trackImage, YUV: trackImage}
self.kill_event.clear()
self.thread.start()
def __init__(self,ic,prefix, start = False):
self.motors = PTMotors(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.motors, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self,ic,prefix, start = False):
self.navdata = NavData(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.navdata, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self,ic,prefix, start = False):
self.laser = Laser(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.laser, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self,ic,prefix, start = False):
self.camera = Camera(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.camera, self.kill_event)
#self.thread = ThreadSensor(self.camera)
self.thread.daemon = True
if start:
self.start()
class Pose3DClient:
def __init__(self,ic,prefix, start = False):
self.pose3d = Pose3D(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.pose3d, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getPose3D(self):
return self.pose3d.getPose3D()
def getX (self):
return self.pose3d.getX()
def getY (self):
return self.pose3d.getY()
def getZ (self):
return self.pose3d.getZ()
def getYaw (self):
return self.pose3d.getYaw()
def getPitch (self):
return self.pose3d.getPitch()
def getRoll (self):
return self.pose3d.getRoll()
class LaserClient:
def __init__(self,ic,prefix, start = False):
self.laser = Laser(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.laser, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getLaserData(self):
return self.laser.getLaserData()
class NavDataClient:
def __init__(self, ic, prefix, start=False):
self.navdata = NavData(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.navdata, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def getNavdata(self):
return self.navdata.getNavdata()
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
if self.pose3d.hasproxy():
self.grid.initPose(self.pose3d.getX(), self.pose3d.getY(), self.pose3d.getYaw())
else:
self.grid.initPose(0, 0, 0)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
class CameraFilter:
def __init__(self, camera):
self.lock = threading.Lock()
self.client = camera
self.height= self.client.getHeight()
self.width = self.client.getWidth()
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
rgbfilter = RgbFilter()
hsvfilter = HsvFilter()
yuvfilter = YuvFilter()
self.filters = {RGB:rgbfilter, YUV:yuvfilter, HSV: hsvfilter}
if self.client.hasproxy():
trackImage = np.zeros((self.height, self.width,3), np.uint8)
trackImage.shape = self.height, self.width, 3
self.images = {ORIG: trackImage, RGB: trackImage, HSV: trackImage, YUV: trackImage}
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again, Threading.Thread raised error
def stop(self):
self.kill_event.set()
self.client.stop()
def getImage(self):
return getOrigImage()
def getFilteredImage(self, filt):
if self.client.hasproxy():
img = np.zeros((self.height, self.width,3), np.uint8)
self.lock.acquire()
img = self.images[filt]
img.shape = self.images[filt].shape
self.lock.release()
return img
return None
def getOrigImage(self):
return self.getFilteredImage(ORIG)
def getHSVImage (self):
return self.getFilteredImage(HSV)
def getRGBImage (self):
return self.getFilteredImage(RGB)
def getYUVImage (self):
return self.getFilteredImage(YUV)
def update(self):
img = self.client.getImage()
rgb = self.getFilter(RGB).apply(img)
hsv = self.getFilter(HSV).apply(img)
yuv = self.getFilter(YUV).apply(img)
self.lock.acquire()
self.images[ORIG] = img
self.images[RGB] = rgb
self.images[HSV] = hsv
self.images[YUV] = yuv
self.lock.release()
def getFilter (self, name):
return self.filters[name]
class CameraFilter:
def __init__(self, camera):
self.lock = threading.Lock()
self.client = camera
self.height = self.client.getHeight()
self.width = self.client.getWidth()
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
rgbfilter = RgbFilter()
hsvfilter = HsvFilter()
yuvfilter = YuvFilter()
self.filters = {RGB: rgbfilter, YUV: yuvfilter, HSV: hsvfilter}
if self.client.hasproxy():
trackImage = np.zeros((self.height, self.width, 3), np.uint8)
trackImage.shape = self.height, self.width, 3
self.images = {
ORIG: trackImage,
RGB: trackImage,
HSV: trackImage,
YUV: trackImage
}
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again, Threading.Thread raised error
def stop(self):
self.kill_event.set()
self.client.stop()
def getImage(self):
return getOrigImage()
def getFilteredImage(self, filt):
if self.client.hasproxy():
img = np.zeros((self.height, self.width, 3), np.uint8)
self.lock.acquire()
img = self.images[filt]
img.shape = self.images[filt].shape
self.lock.release()
return img
return None
def getOrigImage(self):
return self.getFilteredImage(ORIG)
def getHSVImage(self):
return self.getFilteredImage(HSV)
def getRGBImage(self):
return self.getFilteredImage(RGB)
def getYUVImage(self):
return self.getFilteredImage(YUV)
def update(self):
img = self.client.getImage()
rgb = self.getFilter(RGB).apply(img)
hsv = self.getFilter(HSV).apply(img)
yuv = self.getFilter(YUV).apply(img)
self.lock.acquire()
self.images[ORIG] = img
self.images[RGB] = rgb
self.images[HSV] = hsv
self.images[YUV] = yuv
self.lock.release()
def getFilter(self, name):
return self.filters[name]
